MDrive/MForce – Position teach
Teach.mxt is a program that prompts for manual
positioning of the MDrive and when
input 1 toggles it remembers the position based on the
value of C2. It sets two positions and will run
point to point with input 2.
This program requires that the MDrivePlus be eqipped with an internal (-EQ) or remote (-EE) encoder option.
'[Parameters} Ee=1 'enable encoder VA p1 'declare variables VA p2 S1=0,0,0 'define i/o 1 as user input S2=0,0,0 'define i/o 2 as user input '[Program] PG 1 'enter program mode LB su 'startup label Er=0 'clear any errors C2=0 'init C2 (encoder counter) p1=0 'init user variables p2=0 PR "Move driver to first position" PR "Press PB1 when ready LB k1 BR k1,I1=0 'loop while waiting for first value from input 1 p1=C2 'save value of C2 to p1 variable PR p1 'print it LB k2 BR k2,I1=1 'hold here till pushbutton is released PR "Move driver to second position" PR "Press PB1 when ready LB k3 BR k3,I1=0 'loop while waiting for 2nd value from input 1 p2=C2 'save value of C2 in p2 PR p2 'print it LB k4 BR k4,I1=1 'hold till pushbutton is released PR "Toggle Sw 2 to start cycle" Sf=0 'clear stall flag Sm=1 'do not stop on a stall LB m1 'run a little program to move driver from BR m1,I2=0 'first point to second point LB m2 MA p1 'move to absolute value of point 1 H 'hold until move is complete PR P 'print position H 250 'delay 250mS MA p2 'move to absolute value of point 2 H 'hold until move is done PR P 'print position H 250 'delay 250mS BR m1 'branch to m2 to repeat cycle E 'end of program PG 'leave program mode
Download Teach .mxt file
(color-coded in IMS Terminal)